Iterative identification and control : advances in theory and applications

I. Fundamentals and Theory.- 1 Modelling, Identification and Control.- 1.1 A not-so-brief Historical Perspective.- 1.2 A Typical Scenario and its Major Players.- 1.3 Some Important New Insights.- 2 System Identification. Performance and Closed-loop Issues.- 2.1 Chapter Outline.- 2.2 Modelling, Estimation and Identification.- 2.3 Model Structures.- 2.4 Implementation of the Model Structures: Predictors.- 2.5 Open-loop Identification. What can be Achieved?.- 2.6 Open-loop Identification Algorithms.- 2.7 Closed-loop Identification.- 3 Data Preparation for Identification.- 3.1 Introduction.- 3.2 Design Variables for Identification.- 3.3 Data Preparation: Detrending and Filtering.- 3.4 System Identification with an H? Criterion.- 3.5 Conclusions.- 4 Model Uncertainty and Feedback.- 4.1 Introduction.- 4.2 Classical Control Theory.- 4.3 State-space Theory.- 4.4 Fundamental Limitations.- 4.5 H? Loop Shaping.- 4.6 Summary.- 5 Open-loop Iterative Learning Control.- 5.1 Introduction.- 5.2 Control with Two Degrees of Freedom.- 5.3 The Iterative Learning Paradigm.- 5.4 The Learning Algorithms.- 5.5 Examples.- 5.6 Conclusions.- 6 Model-based Iterative Control Design.- 6.1 Introduction.- 6.2 Iterative Control Design.- 6.3 Application 1: Single Control Loop.- 6.4 Application 2: GPC Control Approach.- 6.5 Conclusions.- 7 Windsurfing Approach to Iterative Control Design.- 7.1 Introduction.- 7.2 Fundamental Problems in Adaptive Control.- 7.3 High-level Overview of the Windsurfer Approach to Adaptive Control.- 7.4 More Detailed Description of the Algorithm.- 7.5 Examples.- 7.6 Unstable Plants.- 7.7 Coping with the "Fundamental Problems".- 7.8 Some Further Quantitative Directions.- 8 Iterative Optimal Control Design.- 8.1 Introduction.- 8.2 Controller Tuning with Data.- 8.3 Iterative Identification and Control Design.- 8.4 Introducing Caution into Iterative Design.- 8.5 Embellishments and Conclusion.- 9 Identification and Validation for Robust Control.- 9.1 Introduction.- 9.2 The Identification/Control Setup and some Basic Formulae.- 9.3 A Control-oriented Nominal Model.- 9.4 Caution in Iterative Design.- 9.5 Model Validation for Robust Control Design.- 9.6 Conclusions.- II. Applications.- 10 Helicopter Vibration Control.- 10.1 Helicopter Vibration Control Example.- 10.2 A Glimpse of the Solution.- 10.3 Modelling Requirements.- 10.4 Identification Experiments.- 10.5 Data Analysis and Sanitizing.- 10.6 Parametric System Identification.- 10.7 Conclusions.- 11 Control-relevant Identification and Servo Design for a Compact Disc Player.- 11.1 Introduction.- 11.2 The Compact Disc Mechanism.- 11.3 Control-relevant Modelling of Radial Actuator.- 11.4 Preliminaries and Notations.- 11.5 Common Objectives in Identification and Control.- 11.6 Estimation of Coprime Factorisations.- 11.7 Application to CD Radial Actuator.- 11.8 Control Design and Stability Robustness.- 11.9 Summary.- 12 Control-relevant Identification and Robust Motion Control of a Wafer Stage.- 12.1 Introduction.- 12.2 The Wafer Stepper Positioning Mechanism.- 12.3 Iterative Model Set Estimation and Control Design.- 12.4 Elements of the Iterative Scheme.- 12.5 Estimation of Model Set for the Wafer Stage.- 12.6 Model Set-based Robust Control Design.- 12.7 Summary.- 13 Iterative Identification and Control: a Sugar Cane Crushing Mill.- 13.1 Introduction.- 13.2 The Sugar Cane Crushing Process.- 13.3 Identification Procedure.- 13.4 Controller Design.- 13.5 Iterative Approach.- 13.6 Conclusions.